HawkNavigator.H

00001 // File: HawkNavigator.H
00002 // Author: Josh Villbrandt <josh.villbrandt@usc.edu>
00003 // Date: April 2010
00004 
00005 #include <string>
00006 #include <Ice/Ice.h>
00007 #include "Robots/BeoHawk/core/HawkMessages.ice.H"
00008 #include "Robots/BeoHawk/computer/HawkAgent.H"
00009 
00010 class HawkNavigator : public HawkAgent {
00011         public:
00012                 // These functions must be defined in all HawkAgents
00013                 HawkNavigator(std::string myName, int argc, char* argv[]);
00014         bool scheduler();
00015         void registerTopics();
00016         void catchMessage(const HawkMessages::MessagePtr& msg, const Ice::Current&);
00017         
00018     private:
00019         // These functions are specific to the individual agents
00020         enum States {INIT, ON_GROUND, TAKING_OFF, HOVERING, GOING_TO_WAYPOINT, LANDING};
00021         States state;
00022         // will probably have separate states for claw...
00023 };